CN104596540B - Semi-physical simulation method of inertial navigation/mileometer combined navigation - Google Patents

Abstract

A semi-physical simulation method for inertial navigation/odometer integrated navigation, which has seven major steps: 1. Install the inertial navigation/odometer system on the carrier and power it on to start; 2. Bind the initial parameters to the navigation computer; 3. The carrier is stationary , collect and save the output data of the gyro and accelerometer for 1 hour; calculate the average value of the output data and make a difference with the average value respectively to obtain the actual noise of the gyro and accelerometer; 4. The carrier remains still, and the inertial navigation system conducts static initial comparison for 5 minutes Accurate; 5. Inertial navigation calculation, collect and save the speed value output by inertial navigation and the speed value output by odometer within 50 seconds after exercise; The noise value of the speed; 7. Set the simulation trajectory, generate the standard value of the accelerometer and gyroscope, and then give the relevant data and fuse these data with the noise data obtained in steps 3 and 6 to obtain the simulated data of the device for inertial Guidance/odometer integrated navigation simulation.

Description

A hardware-in-the-loop simulation method for inertial navigation/odometer integrated navigation

technical field

The invention relates to a semi-physical simulation method for inertial navigation/odometer combined navigation, which belongs to the technical field of inertial navigation.

Background technique

The odometer is a sensor for measuring the speed and distance of a vehicle. It has the advantages of complete autonomy, good dynamic performance, and measurement error that does not diverge over time. The combination of odometer and inertial navigation can complement each other's advantages to realize fully autonomous and high-precision navigation and positioning.

In the simulation research of inertial navigation/odometer integrated navigation, the simulation trajectory (including the moving speed, position and attitude of the carrier) is generally set, and the standard value of the accelerometer and gyro are generated by the trajectory generator, and the standard value of the gyro is generated by the designer. Calculate the speed standard value of the odometer by calculating the speed of the carrier in the simulation trajectory, and then give the odometer calibration error, yaw installation angle and yaw installation angle error, pitch installation angle and pitch installation angle error, accelerometer and gyroscope Scale error, zero bias, misalignment angle error, accelerometer noise, gyroscope noise, and odometer noise. The above data are fused to obtain device simulation data for integrated navigation simulation, and then these analog data are used for simulation calculation and calculation of integrated navigation. analyze. Among them, the given simulation noise cannot fully reflect the noise characteristics of the odometer, accelerometer, and gyroscope, so the simulation results cannot fully reflect the actual situation. In order to better carry out research on inertial navigation/odometer integrated navigation, this patent application proposes a hardware-in-the-loop simulation method for inertial navigation/odometer integrated navigation.

Contents of the invention

The object of the present invention is to provide a hardware-in-the-loop simulation method of inertial navigation/odometer integrated navigation, which can better simulate the inertial navigation/odometer integrated navigation process.

Implementation scheme of the present invention: a semi-physical simulation method of inertial navigation/odometer combined navigation, the specific steps of the method are as follows:

Step 1. Install the inertial navigation/odometer combination system on the carrier, and power it on to start.

Step 2, binding initial parameters (including initial longitude, latitude, altitude, odometer scale value) to the navigation computer.

Step 3. The carrier remains still, and the output data of the gyroscope and accelerometer are collected and saved for 1 hour. The average value of the output data of the gyroscope and the accelerometer is calculated, and the collected data of the gyroscope and the accelerometer are respectively compared with the average value to obtain the actual noise of the gyroscope and the accelerometer.

Step 4. The carrier remains stationary, and the inertial navigation system performs static initial alignment for 5 minutes.

Step 5. After the alignment is completed, the carrier starts to move. During the movement, the inertial navigation performs inertial navigation calculations, and collects and saves the speed value output by the inertial navigation and the rate value output by the odometer within 50 seconds after starting the movement.

Step 6. Calculate the carrier speed reference value from the collected inertial navigation speed value, and then make a difference between the speed value output by the odometer and the carrier speed reference value to obtain the noise value of the odometer output speed.

Step 7. Set the simulation trajectory (including the velocity, position, and attitude of the carrier), use the trajectory generator to generate the standard value of the accelerometer and the standard value of the gyroscope, and calculate the odometer by calculating the velocity of the carrier in the set simulation trajectory The standard value of the rate, and then given the odometer scale error, yaw installation angle and yaw installation angle error, pitch installation angle and pitch installation angle error, accelerometer and gyroscope scale error, zero bias, misalignment angle error , these data are fused with the noise data obtained in step 3 and step 6 to obtain device simulation data for INS/odometer integrated navigation hardware-in-the-loop simulation, and then these simulated data are used for INS/odometer integrated navigation simulation.

Wherein, described in step 3 " get the actual noise of gyroscope and accelerometer ", its implementation process is described as follows:

Define w _g as the noise of the gyro, w _a as the noise of the accelerometer, and collect the output data of the three axes of the gyro x, y, and z as ω _x (1), ω _x (2)...ω _x (n), ω _y ( 1), ω _y (2)…ω _y (n), ω _z (1), ω _z (2)…ω _z (n), the average values are Acquire the data output by the three axes of the accelerometer x, y, and z as a _x (1), a _x (2)...a _x (n), a _y (1), a _y (2)...a _y (n ), a _z (1), a _z (2)…a _z (n), the mean values are

The calculation formula of gyro noise is as follows:

Accelerometer noise calculation formula is as follows:

Wherein, described in step 6 " obtain the noise value of odometer output rate ", its implementation process description is as follows:

The carrier starts to move, and the speed of the odometer output within 50 seconds is collected as and the speed in the northeast sky direction output by the inertial navigation Definition: The carrier speed reference value is V ^m (1), V ^m (2)...V ^m (n), and the speed noise of the odometer is w _D (1), w _D (2)... w _D (n). The formula for calculating the carrier speed reference value is as follows:

The formula for calculating the rate noise of the odometer is as follows:

Among them, the "obtain device simulation data for INS/odometer integrated navigation hardware-in-the-loop simulation" described in step 7, and then use these simulated data to carry out INS/odometer integrated navigation simulation", the implementation process is described as follows:

Set the simulation trajectory (including the moving speed, position and attitude of the carrier), use the trajectory generator to generate the standard value of the accelerometer and the standard value of the gyroscope, and calculate the speed standard value of the odometer by calculating the moving speed of the carrier in the set simulation trajectory , and given odometer scale error, yaw installation angle and yaw installation angle error, pitch installation angle and pitch installation angle error, scale error, zero bias and misalignment angle error of accelerometer and gyroscope. These data are fused with the noise data obtained in step 3 and step 6 to obtain device simulation data for INS/odometer integrated navigation hardware-in-the-loop simulation, and then these simulated data are used for INS/odometer integrated navigation simulation. Definition: The motion velocity vectors of the carrier in the simulation trajectory in the navigation coordinate system are V ⁿ (1), V ⁿ (2), ... V ⁿ (n), and the components in the three directions of the navigation coordinate system are respectively The speed standard value of the odometer is The scale error value of the odometer is δK _D ; the yaw installation angle of the odometer is α _ψ ; the yaw installation angle error is δα _ψ ; the pitch installation angle is α _θ ; the pitch installation angle error is δα _θ ; The standard values of the three axes of , z are a _tx (1), a _tx (2)...a _tx (n), a _ty (1), a _ty (2)...a _ty (n), a _tz (1 ), a _tz (2)...a _tz (n); the scale errors of the three axes of the accelerometer x, y, and z are δK _ax , δK _ay , and δK _az respectively; the misalignment angle errors of the accelerometer are δM _axy , δM _axz , δM _ayx , δM _ayz , δM _azx , δM _azy ; the zero bias of the accelerometer x, y, and z axes are δB _ax , δB _ay , δB _az respectively; the standard of the gyroscope x, y, and z axes The values are ω _tx (1), ω _tx (2) ... ω _tx (n), ω _ty (1), ω _ty (2) ... ω _ty (n), ω _tz (1), ω _tz (2) …ω _tz (n); the scale errors of the gyro x, y, and z axes are δK _gx , δK _gy , δK _gz respectively; the misalignment angle errors of the gyro are δM _gxy , δM _gxz , δM _gyx , δM _gyz , δM _gzx , δM _gzy ; the zero offsets of the gyro x, y, and z axes are δB _gx , δB _gy , δB _gz respectively; the rate noise of the odometer is w _D (1), w _D (2)...w _D ( n); the noises of the three axes of the gyro x, y, and z are respectively w _gx (1), w _gx (2)...w _gx (n), w _gy (1), w _gy (2)...w _gy (n ), w _gz (1), w _gz (2)...w _gz (n); the noise of the three axes of the accelerometer x, y, z are respectively w _ax (1), w _ax (2)...w _ax (n ), w _ay (1), w _ay (2)... w _ay (n), w _az (1), w _az (2)... w _az (n).

The speed standard value of the odometer is calculated by calculating the moving speed of the carrier in the set simulation trajectory Calculated as follows:

Standard value of odometer speed obtained by calculation Given the odometer scale error value δK _D and the extracted odometer rate noise w _D (i), the output rate of the odometer for integrated navigation hardware-in-the-loop simulation can be obtained by synthesis Calculated as follows:

The calculation formula of the velocity component of the odometer output rate in the vehicle coordinate system for the integrated navigation hardware-in-the-loop simulation is as follows:

The calculation formula of the gyro data used for the integrated navigation hardware-in-the-loop simulation is as follows:

The calculation formula of accelerometer data used for integrated navigation hardware-in-the-loop simulation is as follows:

Using the odometer data obtained above Accelerometer data a _f , gyroscope data ω _f , combined with the initial position, initial attitude, and initial velocity of the carrier given in the simulation trajectory, conduct integrated navigation hardware-in-the-loop simulation.

Advantages and efficacy: the advantage of this method is to replace the simulated noise with the actual noise of the odometer, gyroscope, and accelerometer, and then carry out the half-physical simulation of the inertial navigation/odometer integrated navigation, which provides more information for the research on the inertial navigation/odometer integrated navigation. good support.

Description of drawings

Figure 1 is a block diagram of noise extraction

Fig. 2 is the block diagram of inertial navigation/odometer combined navigation hardware-in-the-loop simulation method;

Fig. 3 is the flow chart of inertial navigation/odometer combined navigation hardware-in-the-loop simulation method;

The symbols in Figure 1 are explained as follows:

The speed of the east, north and sky directions output by the inertial navigation

a: accelerometer output value

Average of accelerometer output values

ω: Gyro output value

Average value of gyro output value

V ^m : Carrier speed calculated from the speed output by inertial navigation

The rate at which the odometer outputs

w _D : Noise of the odometer output rate

w _a : accelerometer noise

w _g : Gyro noise

The symbols in Figure 2 are explained as follows:

Calculated standard value of odometer speed

δK _D : given odometer scale error

ω _t : standard value of gyro data generated by trajectory generator

a _t : standard value of accelerometer data generated by trajectory generator

δB _g : given gyro bias

δB _a : given accelerometer zero bias

ω _c : Gyro data including scale error and installation angle error

a _c : Accelerometer data including scale error and installation angle error

Odometer Velocity for Integrated Navigation Hardware-in-the-loop Simulation

Velocity output by odometer in vehicle coordinate system for integrated navigation hardware-in-the-loop simulation

ω _f : Gyro data for integrated navigation hardware-in-the-loop simulation

a _f : accelerometer data for integrated navigation hardware-in-the-loop simulation

P: The carrier position set in the simulation trajectory

A: The attitude of the carrier set in the simulation trajectory

V: Carrier velocity set in the simulation trajectory

P ₀ : The initial position of the carrier set in the simulation trajectory

A ₀ : The initial posture of the carrier set in the simulation trajectory

V ₀ : The initial velocity of the carrier set in the simulation trajectory

w _D : Noise of the odometer output rate

w _a : accelerometer noise

w _g : Gyro noise

detailed description

See Fig. 1, Fig. 2, Fig. 3, a kind of hardware-in-the-loop simulation method of inertial navigation/odometer integrated navigation, the specific steps of this method are as follows:

Step 1. Install the inertial navigation/odometer combination system on the carrier, and power it on to start.

Step 2, binding initial parameters (including initial longitude, latitude, altitude, odometer scale value) to the navigation computer.

Step 3. The carrier remains still, and the output data of the gyroscope and accelerometer are collected and saved for 1 hour. The average value of the output data of the gyroscope and the accelerometer is calculated, and the collected data of the gyroscope and the accelerometer are respectively compared with the average value to obtain the actual noise of the gyroscope and the accelerometer.

Step 4. The carrier remains stationary, and the inertial navigation system performs static initial alignment for 5 minutes.

Step 5. After the alignment is completed, the carrier starts to move. During the movement, the inertial navigation performs inertial navigation calculations, and collects and saves the speed value output by the inertial navigation and the rate value output by the odometer within 50 seconds after the start of movement.

Step 6. Calculate the carrier speed reference value from the collected inertial navigation speed value, and then make a difference between the speed value output by the odometer and the carrier speed reference value to obtain the noise value of the odometer output speed.

Step 7. Set the simulation trajectory (including the velocity, position, and attitude of the carrier), use the trajectory generator to generate the standard value of the accelerometer and the standard value of the gyroscope, and calculate the odometer by calculating the velocity of the carrier in the set simulation trajectory The standard value of the rate, and then given the odometer scale error, yaw installation angle and yaw installation angle error, pitch installation angle and pitch installation angle error, accelerometer and gyroscope scale error, zero bias, misalignment angle error , these data are fused with the noise data obtained in step 3 and step 6 to obtain device simulation data for INS/odometer integrated navigation hardware-in-the-loop simulation, and then these simulated data are used for INS/odometer integrated navigation simulation.

Wherein, described in step 3 " get the actual noise of gyroscope and accelerometer ", its implementation process is described as follows:

Define w _g as the noise of the gyro, w _a as the noise of the accelerometer, and collect the output data of the three axes of the gyro x, y, and z as ω _x (1), ω _x (2)...ω _x (n), ω _y ( 1), ω _y (2)…ω _y (n), ω _z (1), ω _z (2)…ω _z (n), the average values are Acquire the data output by the three axes of the accelerometer x, y, and z as a _x (1), a _x (2)...a _x (n), a _y (1), a _y (2)...a _y (n ), a _z (1), a _z (2)…a _z (n), the mean values are

The calculation formula of gyro noise is as follows:

Accelerometer noise calculation formula is as follows:

Wherein, " obtain the noise of odometer rate " described in step 6, its implementation process is described as follows:

The carrier starts to move, and the speed of the odometer output within 50 seconds is collected as and the speed in the northeast sky direction output by the inertial navigation The carrier speed reference values are defined as V ^m (1), V ^m (2)...V ^m (n), and the speed noise of the odometer is w _D (1), w _D (2)... w _D (n). The formula for calculating the carrier speed reference value is as follows:

The formula for calculating the rate noise of the odometer is as follows:

Among them, the "obtain device simulation data for INS/odometer integrated navigation hardware-in-the-loop simulation" described in step 7, and then use these simulated data to carry out INS/odometer integrated navigation simulation", the implementation process is described as follows:

Set the simulation trajectory (including the moving speed, position and attitude of the carrier), use the trajectory generator to generate the standard value of the accelerometer and the standard value of the gyroscope, and calculate the speed standard value of the odometer by calculating the moving speed of the carrier in the set simulation trajectory , and given odometer scale error, yaw installation angle and yaw installation angle error, pitch installation angle and pitch installation angle error, scale error, zero bias and misalignment angle error of accelerometer and gyroscope. These data are fused with the noise data obtained in step 3 and step 6 to obtain device simulation data for INS/odometer integrated navigation hardware-in-the-loop simulation, and then these simulated data are used for INS/odometer integrated navigation simulation. Definition: The motion velocity vectors of the carrier in the simulation trajectory in the navigation coordinate system are V ⁿ (1), V ⁿ (2), ..., V ⁿ (n), and the components in the three directions of the navigation coordinate system are respectively The speed standard value of the odometer is The scale error value of the odometer is δK _D ; the yaw installation angle of the odometer is α _ψ ; the yaw installation angle error is δα _ψ ; the pitch installation angle is α _θ ; the pitch installation angle error is δα _θ ; The standard values of the three axes of , z are a _tx (1), a _tx (2)...a _tx (n), a _ty (1), a _ty (2)...a _ty (n), a _tz (1 ), a _tz (2)...a _tz (n); the scale errors of the three axes of the accelerometer x, y, and z are δK _ax , δK _ay , and δK _az respectively; the misalignment angle errors of the accelerometer are δM _axy , δM _axz , δM _ayx , δM _ayz , δM _azx , δM _azy ; the zero bias of the accelerometer x, y, and z axes are δB _ax , δB _ay , δB _az respectively; the standard of the gyroscope x, y, and z axes The values are ω _tx (1), ω _tx (2) ... ω _tx (n), ω _ty (1), ω _ty (2) ... ω _ty (n), ω _tz (1), ω _tz (2) …ω _tz (n); the scale errors of the gyro x, y, and z axes are δK _gx , δK _gy , δK _gz respectively; the misalignment angle errors of the gyro are δM _gxy , δM _gxz , δM _gyx , δM _gyz , δM _gzx , δM _gzy ; the zero offsets of the gyro x, y, and z axes are δB _gx , δB _gy , δB _gz respectively; the rate noise of the odometer is w _D (1), w _D (2)...w _D ( n); the noises of the three axes of the gyro x, y, and z are respectively w _gx (1), w _gx (2)...w _gx (n), w _gy (1), w _gy (2)...w _gy (n ), w _gz (1), w _gz (2)...w _gz (n); the noise of the three axes of the accelerometer x, y, z are respectively w _ax (1), w _ax (2)...w _ax (n ), w _ay (1), w _ay (2)... w _ay (n), w _az (1), w _az (2)... w _az (n).

The speed standard value of the odometer is calculated by calculating the moving speed of the carrier in the set simulation trajectory Calculated as follows:

Standard value of odometer speed obtained by calculation Given the odometer scale error value δK _D and the extracted odometer rate noise w _D (i), the output rate of the odometer for integrated navigation hardware-in-the-loop simulation can be obtained by synthesis Calculated as follows:

The calculation formula of the velocity component of the odometer output rate in the vehicle coordinate system for the integrated navigation hardware-in-the-loop simulation is as follows:

The calculation formula of the gyro data used for the integrated navigation hardware-in-the-loop simulation is as follows:

The calculation formula of accelerometer data used for integrated navigation hardware-in-the-loop simulation is as follows:

Using the odometer data obtained above Accelerometer data a _f , gyroscope data ω _f , combined with the initial position, initial attitude, and initial velocity of the carrier given in the simulation trajectory, conduct integrated navigation hardware-in-the-loop simulation.

Claims (4)

1. the Hardware In The Loop Simulation Method of a kind of inertial navigation/odometer integrated navigation, it is characterised in that：The method is comprised the following steps that：

Step 1, inertial navigation/odometer combined system is installed on carrier, and electrifying startup；

Step 2, bookbinding initial parameter, including initial longitude, latitude, height, odometer scale value are to navigational computer；

Step 3, carrier remains stationary, collection preserves the output data of 1 hour gyro and accelerometer；Ask for gyro and acceleration The mean value of the output data of meter, the gyro and accelerometer data of collection is poor with its mean value respectively, obtain gyro and The actual noise of accelerometer；

Step 4, carrier remains stationary, inertial navigation carries out 5 minutes static initial alignments；

Step 5, carrier setting in motion after alignment is completed, inertial navigation in motion process carries out inertial navigation calculating, gather and preserve out The velocity amplitude of inertial navigation output and the rate value of odometer output in 50 seconds after beginning to move；

Step 6, bearer rate reference value is calculated by the inertial navigation velocity amplitude gathered in step 5, then the speed that odometer is exported Rate value is poor with bearer rate reference value, obtains the noise figure of odometer output speed；

Step 7, setting simulation track, the movement velocity comprising carrier, position, attitude generate acceleration using path generator The standard value of meter, the standard value of gyro, and the speed of odometer is calculated by the movement velocity of carrier in setting simulation track Standard value, then given odometer Calibration errors, driftage established angle and driftage error of fixed angles, pitching established angle and pitching established angle The Calibration errors of error, accelerometer and gyro, zero inclined, misalignment angle error, by what is obtained in these data and step 3, step 6 Noise data merges, and the device simulation data for inertial navigation/odometer integrated navigation HWIL simulation is obtained, then using these Analogue data carries out inertial navigation/odometer integrated navigation emulation.

2. the Hardware In The Loop Simulation Method of a kind of inertial navigation/odometer integrated navigation according to claim 1, it is characterised in that： " obtaining the actual noise of gyro and accelerometer " described in step 3, it realizes that procedure declaration is as follows：

Define w_gFor gyro noise, w_aFor accelerometer noise, the data for gathering the three axles outputs of gyro x, y, z are respectively ω_x (1)、ω_x(2)…ω_x(n), ω_y(1)、ω_y(2)…ω_y(n), ω_z(1)、ω_z(2)…ω_zN (), mean value is respectivelyThe data of three axle outputs of collection accelerometer x, y, z are respectively a_x(1)、a_x(2)…a_x(n), a_y(1)、a_y (2)…a_y(n), a_z(1)、a_z(2)…a_zN (), mean value is respectively

Gyro noise computing formula is as follows：

Wherein, i=1...n；

Accelerometer noise calculation formula is as follows：

Wherein, i=1...n.

3. the Hardware In The Loop Simulation Method of a kind of inertial navigation/odometer integrated navigation according to claim 1, it is characterised in that： " obtaining the noise figure of odometer output speed " described in step 6, it realizes that procedure declaration is as follows：

Carrier setting in motion, having collected the speed that odometer is exported in 50 seconds isAnd inertial navigation The speed in the northeast day direction of output Definition：Bearer rate reference value is V^m(1)、V^m(2)…V^mN (), the rate Noise of odometer is w_D(1)、w_D(2)…w_DN (), carries Body speed reference value computing formula is as follows：

Wherein, i=1...n；

The rate Noise computing formula of odometer is as follows：

Wherein, i=1 ... n.

4. the Hardware In The Loop Simulation Method of a kind of inertial navigation/odometer integrated navigation according to claim 1, it is characterised in that： " the device simulation data for inertial navigation/odometer integrated navigation HWIL simulation are obtained, then using this described in step 7 A little analogue datas carry out inertial navigation/odometer integrated navigation emulation ", it realizes that procedure declaration is as follows：

Setting simulation track, the movement velocity comprising carrier, position, attitude generate the mark of accelerometer using path generator Quasi- value, the standard value of gyro, by the movement velocity of carrier in setting simulation track the speed standard value of odometer is calculated, and Given odometer Calibration errors, driftage established angle and driftage error of fixed angles, pitching established angle and pitching error of fixed angles, accelerate The Calibration errors of degree meter and gyro, zero inclined, misalignment angle error；The noise data that will be obtained in these data and step 3, step 6 Fusion, obtains the device simulation data for inertial navigation/odometer integrated navigation HWIL simulation, then using these analogue datas Carry out inertial navigation/odometer integrated navigation emulation；Definition：Carrier movement velocity vector under navigational coordinate system is V in simulation trackⁿ (1)、Vⁿ(2)、…VⁿN (), the component in three directions of navigational coordinate system is respectively The speed standard value of odometer isMileage The Calibration errors value of meter is δ K_D；Odometer driftage established angle is α_ψ；Driftage error of fixed angles is δ α_ψ；Pitching established angle is α_θ；Bow Error of fixed angles is faced upward for δ α_θ；The standard value of three axles of accelerometer x, y, z is respectively a_tx(1)、a_tx(2)…a_tx(n), a_ty(1)、 a_ty(2)…a_ty(n), a_tz(1)、a_tz(2)…a_tz(n)；The Calibration errors of three axles of accelerometer x, y, z are respectively δ K_ax、δK_ay、 δK_az；The misalignment angle error of accelerometer is δ M_axy、δM_axz、δM_ayx、δM_ayz、δM_azx、δM_azy；Three axles of accelerometer x, y, z Zero is respectively δ B partially_ax、δB_ay、δB_az；The standard value of three axles of gyro x, y, z is respectively ω_tx(1)、ω_tx(2)…ω_tx(n), ω_ty(1)、ω_ty(2)…ω_ty(n), ω_tz(1)、ω_tz(2)…ω_tz(n)；The Calibration errors of three axles of gyro x, y, z are respectively δK_gx、δK_gy、δK_gz；The misalignment angle error of gyro is δ M_gxy、δM_gxz、δM_gyx、δM_gyz、δM_gzx、δM_gzy；Three axles of gyro x, y, z Zero be respectively δ B partially_gx、δB_gy、δB_gz；The rate Noise of odometer is w_D(1)、w_D(2)…w_D(n)；Three axles of gyro x, y, z Noise be respectively w_gx(1)、w_gx(2)…w_gx(n), w_gy(1)、w_gy(2)…w_gy(n), w_gz(1)、w_gz(2)…w_gz(n)；Accelerate The noise of degree meter three axles of x, y, z is respectively w_ax(1)、w_ax(2)…w_ax(n), w_ay(1)、w_ay(2)…w_ay(n), w_az(1)、w_az (2)…w_az(n)；

The speed standard value of odometer is calculated by the movement velocity of carrier in setting simulation trackComputing formula is such as Under：

Wherein, i=1 ... n；

By calculated odometer speed standard valueGiven odometer Calibration errors value δ K_D, extract the mileage that obtains Meter rate Noise w_DI (), comprehensively obtains the odometer output speed for integrated navigation HWIL simulationComputing formula It is as follows：

Wherein, i=1 ... n；

For integrated navigation HWIL simulation velocity component computing formula of the odometer output speed under carrier coordinate system such as Under：

Wherein, i=1 ... n；

Gyro data computing formula for integrated navigation HWIL simulation is as follows：

Wherein, i=1 ... n；

Accelerometer data computing formula for integrated navigation HWIL simulation is as follows：

Wherein, i=1 ... n；

Counted using mileage obtained aboveAccelerometer data a_f, gyro data ω_f, with reference to by giving in simulation track Fixed carrier initial position, initial attitude, initial velocity, is combined navigation HWIL simulation.